ES2387497T3 - Cápsula endoscópica teleoperada equipada con un sistema locomotor activo - Google Patents

Cápsula endoscópica teleoperada equipada con un sistema locomotor activo Download PDF

Info

Publication number
ES2387497T3
ES2387497T3 ES05702514T ES05702514T ES2387497T3 ES 2387497 T3 ES2387497 T3 ES 2387497T3 ES 05702514 T ES05702514 T ES 05702514T ES 05702514 T ES05702514 T ES 05702514T ES 2387497 T3 ES2387497 T3 ES 2387497T3
Authority
ES
Spain
Prior art keywords
leg
endoscopic capsule
capsule according
locomotion
microcontroller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
ES05702514T
Other languages
English (en)
Spanish (es)
Inventor
Paolo Dario
Arianna Menciassi
Cesare Stefanini
Samuele Gorini
Giuseppe Pernorio
Dino Accoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Korea Advanced Institute of Science and Technology KAIST
Korea Institute of Science and Technology KIST
Original Assignee
Korea Advanced Institute of Science and Technology KAIST
Korea Institute of Science and Technology KIST
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Korea Advanced Institute of Science and Technology KAIST, Korea Institute of Science and Technology KIST filed Critical Korea Advanced Institute of Science and Technology KAIST
Application granted granted Critical
Publication of ES2387497T3 publication Critical patent/ES2387497T3/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00156—Holding or positioning arrangements using self propulsion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/72—Micromanipulators
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
ES05702514T 2004-02-17 2005-02-17 Cápsula endoscópica teleoperada equipada con un sistema locomotor activo Active ES2387497T3 (es)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ITPI20040008 2004-02-17
IT000008A ITPI20040008A1 (it) 2004-02-17 2004-02-17 Capsula robotica per applicazioni biomediche intracorporee
PCT/IB2005/000398 WO2005082248A1 (fr) 2004-02-17 2005-02-17 Capsule endoscopique telecommandee equipee d'un systeme de locomotion actif

Publications (1)

Publication Number Publication Date
ES2387497T3 true ES2387497T3 (es) 2012-09-25

Family

ID=34897813

Family Applications (1)

Application Number Title Priority Date Filing Date
ES05702514T Active ES2387497T3 (es) 2004-02-17 2005-02-17 Cápsula endoscópica teleoperada equipada con un sistema locomotor activo

Country Status (8)

Country Link
US (1) US8066632B2 (fr)
EP (1) EP1715789B1 (fr)
JP (1) JP4611320B2 (fr)
KR (1) KR100839825B1 (fr)
CN (1) CN100455256C (fr)
ES (1) ES2387497T3 (fr)
IT (1) ITPI20040008A1 (fr)
WO (1) WO2005082248A1 (fr)

Families Citing this family (81)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8172458B2 (en) * 2001-03-23 2012-05-08 Petrakis Dennis N Temperature responsive systems
US8024036B2 (en) 2007-03-19 2011-09-20 The Invention Science Fund I, Llc Lumen-traveling biological interface device and method of use
US9801527B2 (en) * 2004-04-19 2017-10-31 Gearbox, Llc Lumen-traveling biological interface device
US8361013B2 (en) 2004-04-19 2013-01-29 The Invention Science Fund I, Llc Telescoping perfusion management system
US7998060B2 (en) 2004-04-19 2011-08-16 The Invention Science Fund I, Llc Lumen-traveling delivery device
US7850676B2 (en) 2004-04-19 2010-12-14 The Invention Science Fund I, Llc System with a reservoir for perfusion management
US9011329B2 (en) 2004-04-19 2015-04-21 Searete Llc Lumenally-active device
US8353896B2 (en) 2004-04-19 2013-01-15 The Invention Science Fund I, Llc Controllable release nasal system
US7857767B2 (en) 2004-04-19 2010-12-28 Invention Science Fund I, Llc Lumen-traveling device
US8337482B2 (en) 2004-04-19 2012-12-25 The Invention Science Fund I, Llc System for perfusion management
US8092549B2 (en) 2004-09-24 2012-01-10 The Invention Science Fund I, Llc Ciliated stent-like-system
JP4593211B2 (ja) * 2004-09-08 2010-12-08 オリンパス株式会社 カプセル型医療装置
KR101048916B1 (ko) 2004-09-08 2011-07-12 올림푸스 가부시키가이샤 캡슐형 의료 장치
KR100702155B1 (ko) * 2005-05-12 2007-04-02 한국과학기술연구원 캡슐형 마이크로 로봇 구동 시스템
US9198563B2 (en) 2006-04-12 2015-12-01 The Invention Science Fund I, Llc Temporal control of a lumen traveling device in a body tube tree
RU2008141608A (ru) * 2006-04-21 2010-05-27 Физули Акбер оглы Насиров (AZ) Управляемый робот-эндоскоп микрокапсульного типа
DE102006019419B4 (de) * 2006-04-26 2008-02-14 Siemens Ag Aktuator insbesondere eines Endoroboters
WO2008092376A1 (fr) * 2007-01-24 2008-08-07 Yunlong Chen Systeme d'endoscope a capsule a entrainement interne
US7655004B2 (en) 2007-02-15 2010-02-02 Ethicon Endo-Surgery, Inc. Electroporation ablation apparatus, system, and method
JP4977776B2 (ja) * 2007-04-04 2012-07-18 スクオラ スペリオレ デイ ストウデイ ユニベルシタリ エ デイ ペルフェジオナメント エス．アンナ 遠隔操作の内視鏡カプセル
US8579897B2 (en) 2007-11-21 2013-11-12 Ethicon Endo-Surgery, Inc. Bipolar forceps
US8480657B2 (en) 2007-10-31 2013-07-09 Ethicon Endo-Surgery, Inc. Detachable distal overtube section and methods for forming a sealable opening in the wall of an organ
US20090112059A1 (en) 2007-10-31 2009-04-30 Nobis Rudolph H Apparatus and methods for closing a gastrotomy
US8679003B2 (en) 2008-05-30 2014-03-25 Ethicon Endo-Surgery, Inc. Surgical device and endoscope including same
US8771260B2 (en) 2008-05-30 2014-07-08 Ethicon Endo-Surgery, Inc. Actuating and articulating surgical device
US8906035B2 (en) 2008-06-04 2014-12-09 Ethicon Endo-Surgery, Inc. Endoscopic drop off bag
US8403926B2 (en) 2008-06-05 2013-03-26 Ethicon Endo-Surgery, Inc. Manually articulating devices
US8361112B2 (en) 2008-06-27 2013-01-29 Ethicon Endo-Surgery, Inc. Surgical suture arrangement
US8888792B2 (en) 2008-07-14 2014-11-18 Ethicon Endo-Surgery, Inc. Tissue apposition clip application devices and methods
US8409200B2 (en) 2008-09-03 2013-04-02 Ethicon Endo-Surgery, Inc. Surgical grasping device
ES2401166T3 (es) 2008-09-16 2013-04-17 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna Cápsula sin hilos que libera una pinza quirúrgica
ITFI20080195A1 (it) * 2008-10-13 2010-04-14 Scuola Superiore Di Studi Universit Ari E Di Perfe Capsula endoscopica telecomandata a locomozione attiva ibrida
US8157834B2 (en) 2008-11-25 2012-04-17 Ethicon Endo-Surgery, Inc. Rotational coupling device for surgical instrument with flexible actuators
US8361066B2 (en) 2009-01-12 2013-01-29 Ethicon Endo-Surgery, Inc. Electrical ablation devices
US20110098704A1 (en) 2009-10-28 2011-04-28 Ethicon Endo-Surgery, Inc. Electrical ablation devices
US8608652B2 (en) 2009-11-05 2013-12-17 Ethicon Endo-Surgery, Inc. Vaginal entry surgical devices, kit, system, and method
US20110115891A1 (en) * 2009-11-13 2011-05-19 Ethicon Endo-Surgery, Inc. Energy delivery apparatus, system, and method for deployable medical electronic devices
KR101074511B1 (ko) * 2009-11-13 2011-10-17 한국과학기술연구원 캡슐형 마이크로 로봇 양방향 구동 시스템
US8551078B2 (en) * 2009-12-04 2013-10-08 Covidien Lp Laparoscopic scaffold assembly
US8353487B2 (en) 2009-12-17 2013-01-15 Ethicon Endo-Surgery, Inc. User interface support devices for endoscopic surgical instruments
US8496574B2 (en) 2009-12-17 2013-07-30 Ethicon Endo-Surgery, Inc. Selectively positionable camera for surgical guide tube assembly
US9028483B2 (en) 2009-12-18 2015-05-12 Ethicon Endo-Surgery, Inc. Surgical instrument comprising an electrode
US8506564B2 (en) 2009-12-18 2013-08-13 Ethicon Endo-Surgery, Inc. Surgical instrument comprising an electrode
US9005198B2 (en) 2010-01-29 2015-04-14 Ethicon Endo-Surgery, Inc. Surgical instrument comprising an electrode
CN102028447B (zh) * 2011-01-17 2013-11-06 蔡信东 肠镜
US10092291B2 (en) 2011-01-25 2018-10-09 Ethicon Endo-Surgery, Inc. Surgical instrument with selectively rigidizable features
US9233241B2 (en) 2011-02-28 2016-01-12 Ethicon Endo-Surgery, Inc. Electrical ablation devices and methods
US9254169B2 (en) 2011-02-28 2016-02-09 Ethicon Endo-Surgery, Inc. Electrical ablation devices and methods
US9314620B2 (en) 2011-02-28 2016-04-19 Ethicon Endo-Surgery, Inc. Electrical ablation devices and methods
US9049987B2 (en) 2011-03-17 2015-06-09 Ethicon Endo-Surgery, Inc. Hand held surgical device for manipulating an internal magnet assembly within a patient
GB2497544A (en) * 2011-12-13 2013-06-19 Staffordshire University Entpr And Commercial Dev Travelling capsule with two drive mechanisms
US9662018B2 (en) 2012-03-30 2017-05-30 Covidien Lp Integrated self-fixating visualization devices, systems and methods
US20130282173A1 (en) * 2012-04-20 2013-10-24 Erhan H. Gunday Remotely Controlled Surgical Robots
US9427255B2 (en) 2012-05-14 2016-08-30 Ethicon Endo-Surgery, Inc. Apparatus for introducing a steerable camera assembly into a patient
US9078662B2 (en) 2012-07-03 2015-07-14 Ethicon Endo-Surgery, Inc. Endoscopic cap electrode and method for using the same
US9545290B2 (en) 2012-07-30 2017-01-17 Ethicon Endo-Surgery, Inc. Needle probe guide
US9572623B2 (en) 2012-08-02 2017-02-21 Ethicon Endo-Surgery, Inc. Reusable electrode and disposable sheath
US10314649B2 (en) 2012-08-02 2019-06-11 Ethicon Endo-Surgery, Inc. Flexible expandable electrode and method of intraluminal delivery of pulsed power
US9277957B2 (en) 2012-08-15 2016-03-08 Ethicon Endo-Surgery, Inc. Electrosurgical devices and methods
US10098527B2 (en) 2013-02-27 2018-10-16 Ethidcon Endo-Surgery, Inc. System for performing a minimally invasive surgical procedure
US20140276212A1 (en) * 2013-03-14 2014-09-18 Elwha Llc Systems, devices, and methods including intestinal microbial flora mapping
AT513482B1 (de) * 2013-04-22 2014-05-15 Dominik Kovács Vorrichtung zur Herstellung von Anastomosen
CN103598868B (zh) * 2013-11-01 2015-11-04 陈宏涛 一种轮爪式内窥镜机器人
CN103637761B (zh) * 2013-12-25 2015-08-19 上海交通大学 用于胃肠道的体内机器人
CN103637762B (zh) * 2013-12-27 2015-08-19 上海交通大学 消化道癌前病变无创检查系统
CN103654691B (zh) * 2013-12-27 2015-10-28 上海交通大学 胃肠道癌前病变无创诊查装置
US20150289752A1 (en) * 2014-04-10 2015-10-15 Daniel Rachlin Tethered endoscope
US20150374215A1 (en) * 2014-06-28 2015-12-31 Amateo Sp. z o.o. Device for examination of the upper gastrointestinal tract
US10226307B2 (en) 2016-06-29 2019-03-12 Elwha Llc Robotic debridement apparatuses, and related systems and methods
US10213225B2 (en) * 2016-06-29 2019-02-26 Elwha Llc Robotic debridement apparatuses, and related systems and methods
WO2018191658A1 (fr) * 2017-04-13 2018-10-18 The Regents Of The Universiity Of California Système et procédé de locomotion et de formage d'endoscope
CN106974613B (zh) * 2017-04-26 2018-04-10 常州信息职业技术学院 一种微型胃肠道机器人
CN107788937A (zh) * 2017-10-18 2018-03-13 上海交通大学 胃肠道机器人径向扩张机构
EP3735174A4 (fr) * 2018-01-03 2021-10-27 MI Fitpill Medical Ltd. Dispositifs insérables in vivo présentant une évacuation indéréglable
KR101884205B1 (ko) 2018-02-12 2018-08-01 주식회사 파워리퍼블릭 원격조향제어가 가능한 무선전력전송 캡슐내시경
CN108618742B (zh) * 2018-05-04 2020-05-22 哈尔滨工业大学深圳研究生院 一种具有腿部伸展与收缩结构的内窥镜机器人
CN108852261B (zh) * 2018-05-04 2020-07-24 哈尔滨工业大学深圳研究生院 基于桨式的主动式腿部伸展与收缩装置的内窥镜机器人
CN108451489B (zh) * 2018-05-04 2020-08-14 哈尔滨工业大学深圳研究生院 基于丝杠的主动式腿部伸展与收缩装置的内窥镜机器人
CN111588336B (zh) * 2020-04-08 2022-05-10 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) 一种基于丝杆的钳位式主动运动胶囊机器人
CN111938716B (zh) * 2020-08-04 2022-05-24 福建农林大学 用于消化道内窥镜诊疗的胶囊机器人腿部装置
CN114795077B (zh) * 2021-01-29 2024-09-24 上海交通大学 仿尺蠖屈伸式微型肠道机器人机构

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5822024A (ja) * 1981-07-31 1983-02-09 富士写真フイルム株式会社 固体撮像素子を用いた内視鏡
JPH0260326A (ja) 1988-08-26 1990-02-28 Tokyo Electric Co Ltd 無線データ受信装置
JPH04144533A (ja) * 1990-10-05 1992-05-19 Olympus Optical Co Ltd 内視鏡
JPH05212093A (ja) * 1992-02-07 1993-08-24 Olympus Optical Co Ltd 自動走行カプセル装置
JPH0654835A (ja) * 1992-08-04 1994-03-01 Olympus Optical Co Ltd マイクロマシンシステム
JPH0663030A (ja) * 1992-08-24 1994-03-08 Olympus Optical Co Ltd 医用カプセル
US5662587A (en) * 1992-09-16 1997-09-02 Cedars Sinai Medical Center Robotic endoscopy
JPH06114036A (ja) 1992-10-05 1994-04-26 Olympus Optical Co Ltd 医療用カプセル
JP3393439B2 (ja) * 1993-12-08 2003-04-07 ソニー株式会社 移動装置
IL108352A (en) * 1994-01-17 2000-02-29 Given Imaging Ltd In vivo video camera system
JPH10192224A (ja) * 1997-01-07 1998-07-28 Mitsubishi Cable Ind Ltd 多方向首振り構造
US6240312B1 (en) * 1997-10-23 2001-05-29 Robert R. Alfano Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment
US6162171A (en) * 1998-12-07 2000-12-19 Wan Sing Ng Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures
JP3364457B2 (ja) * 1999-07-05 2003-01-08 株式会社バンダイ 歩行装置
IL134017A (en) 2000-01-13 2008-04-13 Capsule View Inc Camera for photography inside the intestines
IL155045A0 (en) * 2000-09-27 2003-10-31 Given Imaging Ltd An immobilizable in vivo sensing device
EP1370320B1 (fr) * 2001-02-28 2006-08-30 KIST(Korean Institute of Science and Technology) Dispositif endoscopique destine a etre deplace dans le tractus gastro-intestinal
KR100426613B1 (ko) * 2001-05-19 2004-04-08 한국과학기술연구원 마이크로 로봇 구동시스템
KR100402920B1 (ko) * 2001-05-19 2003-10-22 한국과학기술연구원 마이크로 로봇
IL143259A (en) * 2001-05-20 2006-08-01 Given Imaging Ltd A method of moving a bone in the colon
US7160258B2 (en) * 2001-06-26 2007-01-09 Entrack, Inc. Capsule and method for treating or diagnosing the intestinal tract
CN1142048C (zh) * 2001-10-08 2004-03-17 上海交通大学 微型六足仿生机器人
KR100417163B1 (ko) * 2001-11-12 2004-02-05 한국과학기술연구원 마이크로 캡슐형 로봇
US20030216622A1 (en) * 2002-04-25 2003-11-20 Gavriel Meron Device and method for orienting a device in vivo
CN1215923C (zh) * 2002-06-27 2005-08-24 上海交通大学 形状记忆合金驱动的微型双三足步行机器人
AU2003248836A1 (en) * 2002-07-02 2004-01-23 Mitch Randall Apparatus and method for producing ambulatory motion
KR100482275B1 (ko) * 2002-08-09 2005-04-13 한국과학기술연구원 마이크로 캡슐형 로봇
ATE547976T1 (de) * 2002-12-26 2012-03-15 Given Imaging Ltd Immobilisierbare in-vivo messvorrichtung

Also Published As

Publication number Publication date
US8066632B2 (en) 2011-11-29
CN100455256C (zh) 2009-01-28
WO2005082248A1 (fr) 2005-09-09
US20080091070A1 (en) 2008-04-17
EP1715789A1 (fr) 2006-11-02
JP4611320B2 (ja) 2011-01-12
JP2007521938A (ja) 2007-08-09
CN1976631A (zh) 2007-06-06
ITPI20040008A1 (it) 2004-05-17
KR100839825B1 (ko) 2008-06-19
EP1715789B1 (fr) 2012-06-06
KR20070089044A (ko) 2007-08-30

Similar Documents

Publication Publication Date Title
ES2387497T3 (es) Cápsula endoscópica teleoperada equipada con un sistema locomotor activo
EP2136698B1 (fr) Capsule endoscopique télécommandée
KR100702155B1 (ko) 캡슐형 마이크로 로봇 구동 시스템
KR100417163B1 (ko) 마이크로 캡슐형 로봇
ITFI20080195A1 (it) Capsula endoscopica telecomandata a locomozione attiva ibrida
KR100482275B1 (ko) 마이크로 캡슐형 로봇
Ciuti et al. Capsule endoscopy: from current achievements to open challenges
Munoz et al. A review of drug delivery systems for capsule endoscopy
JP3490932B2 (ja) 飲み込み型内視鏡装置
Quirini et al. Design and fabrication of a motor legged capsule for the active exploration of the gastrointestinal tract
US8257257B2 (en) Capsule type medical device
KR101510196B1 (ko) 신체 내 모듈형 캡슐로봇 동작 제어 시스템
EP2750582B1 (fr) Gaine jetable avec éclairage
WO2007128084A2 (fr) Robot-endoscope du type microcapsule pouvant être commandé
Wang et al. A locomotion mechanism with external magnetic guidance for active capsule endoscope
Song et al. Integrated design and decoupled control of anchoring and drug release for wireless capsule robots
Tognarelli et al. An endoluminal robotic platform for Minimally Invasive Surgery
KR100540758B1 (ko) 캡슐형 로봇 시스템
US7727169B1 (en) Device for in vivo sensing
Woods et al. Towards a micropositioning system for targeted drug delivery in wireless capsule endoscopy
CN113425227A (zh) 一种诊断-治疗一体化软体肠胃镜医疗机器人
Lin et al. Capsule endoscopy—A mechatronics perspective
CN201263703Y (zh) 一种胶囊型消化道清淤装置
Menciassi et al. Miniaturized robotic devices for endoluminal diagnosis and surgery: A single-module and a multiple-module approach
Harada et al. Design of a bending module for assembling reconfigurable endoluminal surgical system